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1. EURODRIVE SEW EURODRIVE Driving the world Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services How we re driving the world With people who think fast and With a worldwide develop the service network that is future with you nf di AL YH Phe f With a global presence that offers responsive and reliable solutions Anywhere always close at hand With drives and controls that automatically improve your productivity With innovative technology that solves tomorrow s problems today k With comprehensive With uncompromising knowledge in virtually quality that reduces the every branch of cost and complexity of industry today daily operations mme E z o f SEW EURODRIVE Driving the world g P With online information and software updates via the Internet available around the clock SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com www sew eurodrive com
2. Data processing Parameter Routing 11663AXX 11719AEN Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT go 7 IN buffer 0 links Control word 0 settings IN process data settings EtherCAT introduction Then establish links from the IN buffer 0 to the control word O and to the process data according the above example using drag amp drop For calling up the FCBO6 interpolated speed control it must be configured in a control word here control word 0 Make the sample settings in control word 0 according to Figure 17 Set the IN process data according to the following figure x Channel 32 bit access System unit 11664AXX Figure 18 IN process data settings Manual XFE24A EtherCAT Fieldbus Interface 41 7 42 gw EtherCAT introduction Motion Control via EtherCAT Configuration of the FCBO06 inter polated speed FCBs overview a MOVIAXISe Display values Sg FCB parameter setting E Basic settings FCB 05 Speed control 00 01 E FCB 06 Interpolated speed contre FCB 07 Torque control 00 01 CB 08 Interpolated torque contre FCB 03 Positioning 00 63 CB 10 Interpolated positioning CB 12 Reference travel CB 18 Encoder adjustment CB 20 Jog mode CB 21 Brake test CB 22 Dual drive CB 25 Rotorlage Identifik ation CB 26 Stop at user limits E a od General parameters Setpoint cycle control
3. KAT A 1001 MXA 80A 016 503 00 Boven Dremel EH O9 11655AXX Manual XFE24A EtherCAT Fieldbus Interface Operating MOVITOOLS MotionStudio via EtherCAT go Activating online operation 8 9 Activating online operation Perform the unit scan see section 8 7 Use the mouse to mark the unit you want to operate Switch MOVITOOLS Motion Studio to online mode by clicking on the Online mode symbol following figure gt MovirooLsa MotionStudio EtherCAT_doku F loj xj Project Edit Network View Plugn Settings Window Help D GGe BBR et t LXI 15i E f 1632543620 SMLP Ethercat Gateway Cj mm Ethercat 5 di Overview B Remote ETE 9 11656AXX Now highlight the unit you want to operate and activate the plug in menu using the right mouse button 8 10 Known problems when operating MOVITOOLS MotionStudio Check the following points if problems occur during configuration sthe EtherCAT protocol activated in the communication settings of MOVITOOLS MotionStudio e ls the correct IP address of the mailbox gateway set in the EtherCAT master e Is it possible to address the EtherCAT mailbox gateway via the ping command e ls the set unit scan range sufficient Is the cyclical online accessibility test MOVITOOLS MotionStudio deactivated Manual XFE24A EtherCAT Fieldbus Interface 8 59 9 ES de Error Diagnostics a Diagnostic procedures
4. 9 Error Diagnostics 9 1 Diagnostic procedures The diagnostic procedures described in the following section demonstrate the fault anal ysis methods for the following problems Servo inverter does not work on EtherCAT Servo inverter cannot be controlled using the EtherCAT master For more specific information about configuration of the servo inverter for different field bus applications refer to the MOVIAXIS Multi Axis Servo Inverter project planning manual Step 1 Checking for correct connection of the servo inverter to the EtherCAT Is the bus connector connected to the master servo inverter NO gt A YES i How does the Link activity LED on the XFE24A react OFF gt A ON i Is the connection of the servo inverter to the EtherCAT physically cor rect Check for correct EtherCAT connection at X30 IN incoming Ether NO gt A CAT connection X31 OUT outgoing EtherCAT connection YES i Continue with 2 Response of the RUN LED A Check the bus cabling Step 2 How does the RUN LED respond Has the master switched the slave into the INIT state Flashing orange Bus has not been started up yet in the master C Flashing green Slave is in PRE OPERATIONAL state C Lights up once in Slave is in SAFE OPERATIONAL state green gt c Lights up green Slave is in OPERATIONAL state C Startup the bus in the master XFE24A option i
5. Configuration I O Configuration B 1 0 Devices E179 EtherCAT Master EtherCAT EtherCAT Master Image af EtherCAT Master Image Info gt Inputs QL Outputs H InfoData Gl Axis 1 MDX61B mit DFE24B 8 Mappings foc for synchronization ha Advanced Settings Advanced Settings a Distributed C r Cyclic Mode peration Mode Distributed Clock peration Mode DC for synchronization vp v Enable Sync Unit Cycle us 1000 SYNC 0 P crea x1 M Cycle Time us 1000 Shift Time ys 0 61455AXX Sync Unit Cycle C User Defined Iv Enable SYNC 0 For clock synchronous operation select the DC for synchronization option on the DC Distributed Clock tab page Make sure that the cycle time in the Cycle time field matches exactly the synchronization time set in parameter 9963 1 Please check the settings of the watchdog Possible times for Distributed Clock 500 ys 1 10ms Advanced Settings he xj Behavior Timeout Settings r Startup Checking r State Machine FMMU j SM IV Check Vendor Id IM Auto Restore States Init C d x ran dese IV Check Product Code M Relnit after Communication Error Distributed Clock Check Revision Number I Log Communication Changes E ESC Access e SSE Cae pear r Final State Check Serial Number C OP SAFEOP in Config Mode C SAFEOP C PREOP C INIT r Process Data 4 Info Data Use L
6. Gearmolor Industrial Gear Units Drive Electronics Drive Automation Services UMANE x EURODRIVE 4 Pr gt gt ET i A i is 2 E d W Lam a 5 Wy j p st 1 a S i P se gt h y i siw T e a L MOVIAXIS MX Multi Axis Servo Inverter XFE24A EtherCAT Fieldbus Interface Edition 08 2007 M 11550619 EN anual SEW EURODRIVE Driving the world Contents 1 General Information eeeeseeeeeeeeeeeeeee nennen nenne enne nennen nnne nnn runner nnne nena 5 1 1 Structure of the safety notes ssessssssssseeeeene eee 5 1 2 Right to claim under warranty ssssssssee eene 6 1 9 Exclusion of liability esnedun ecce id ee ente enel die 6 1 4 Integral part of the product enne 6 1 5 Documentation rote nei Dee Te HEEL cen e eee ret dede 6 1 6 Product names and trademarks ssssssssessseeee eene 6 Gi Waste dlspOosal iuit tir tp IRURE 6 2 Safety Notes eee nere ete IRE tene etes 7 2 1 General information 5 eed e t Oe tice EP re e die Rees 7 2 2 Target group s scere REC en 7 2 3 Transport putting into storage ssssse mmn 8 2 4 Installation assembly nennen 8 2 5 Electrical Connection isi decedere diete e dede re dead 8 2 6 Startup operation sisama ee Pete qup ite bea ie dts 8 sgh 9 3 1 Content of the mantal sorsero netten e
7. 5 9 21 5 go EtherCAT Configuration and Startup Settings on the MOVIAXISQ servo inverter using the example of single axis 53 Settings on the MOVIAXIS servo inverter using the example of single axis positioning Settings with For simple fieldbus operation the following preparations and settings are required software First perform motor startup The motor startup procedure is described in detail in the assistant MOVIAXIS Multi Axis Servo Inverter operating instructions All communication parameter and the PDO configuration are set using the Single Axis Positioning Technology Editor single axis positioning see Single Axis Posi tioning Technology Editor manual For positioning operation via the process data interface we recommend using the graphical software assistant Single Axis Positioning for setting all necessary pa rameters and configuring the process data see Single Axis Positioning Technology Editor manual 2 MOVITOOLS MotionStudio SEW Default Project Edit Network View Pluon Settings Window Help Dac du eH 4 X Et Default a Default mu Ethernet J m 169 254 7 254 SMLP Ethercat Gate um Ethercat ja 1 PDO editor l 1002 Slav 2 Single axis positioning 3 Parameter tree 5 Motion Technology Editor amp kE eb Startup 8 HEEEENEENEN i Comparison Startup gt Technology functions gt Bd Drive Startup for MOVIPLC
8. Ho Figure 15 Velocity mode Cascade with fieldbus interface A Id B 61478AXX A Control B Fieldbus interface C Servo inverter Xref Position setpoint 1 Position controller Xact Position actual value 2 Speed controller Vref Speed setpoint 3 Output stage of the servo inverter Vact Actual speed value 4 Driven machine trf Torque setpoint 5 Encoder V speed X position 6 Optional encoder In Velocity mode the controller transmits a speed or velocity setpoint to the servo in verter The position actual value is read by the servo inverter or a separate encoder In Velocity mode the servo inverter is a simple speed control element The time slices of the controller the bus transmission and the internal processing cycle of the servo in verter and of external encoders if applicable must be synchronized to one another Referencing of the position monitoring of permitted travel ranges or limit switches load dependent ramp specification and lag error monitoring are realized in the higher level controller and are not tasks of MOVIAXIS To prevent unwanted high acceleration values for larger control intervals gt 1 ms the speed setpoint is not directly adopted by MOVIAXIS but interpolated linearly This means for a setpoint cycle of 5 ms that the controller sets the required speed change in the MOVIAXIS not every 5 ms as one large step but rather as 5 small steps of 0 5
9. P OS B AQ ee SYSTEM Configuration E k NC Configuration B NC Task 1 SAF 83 NC Task 1 SVB Axis Type C Standard Mapping via Encoder and Drive f NC Task 1 Prozessabbild Link To 7 Tables te EE Achsen inp 22 i it Display Onl f RR PLC Configuration Unit T 5 3 isplay Only JO Configuration Posto T Im Modulo Velocity J min ler 9 General Settings Global Dynamics Online Functions Coupling Compensation 61458AXX On the Settings tab page select the Standard option in the Axis Type field and the system unit e g in the Unit field Set the maximum speed and the lag error monitoring on the Global tab page Set the ramp times on the Dynamics tab page The settings must match the mechanical structure and the corresponding settings in the servo inverter Manual XFE24A EtherCAT Fieldbus Interface 7 49 Motion Control via EtherCAT 7 Example TwinCAT Encoder The CANopen DS402 is specified as encoder under Axis x_Enc and configured as configuration follows following figure getting_started_MX_V elocity tsm TwinCAT System Manager File Edit Actions View Options Help rer Cen EAEG la Qa e SYSTEM Configuration BB Nc Configuration C Bi NC Task 1 SAF General NC Encogggy Global Incremental Online m ode E NC Tas
10. 1 6 1 7 General Information Right to claim under warranty Right to claim under warranty A requirement of fault free operation and fulfillment of any rights to claim under limit ed warranty is that you adhere to the information in this manual and the MOVIAXIS Multi Axis Servo Inverter operating instructions Therefore read the operating in structions before you start operating the unit Make sure that the operating instructions are available to persons responsible for the system and its operation as well as to persons who work independently on the unit You must also ensure that the documentation is legible Exclusion of liability You must comply with the information contained in this manual and the MOVIAXIS Multi Axis Servo Inverter operating instructions to ensure safe operation of the MOVIAXIS multi axis servo inverter and to achieve the specified product characteris tics and performance requirements SEW EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non observance of the op erating instructions In such cases any liability for defects is excluded Integral part of the product This manual is an integral part of the EtherCAT XFE24A fieldbus interface and contains important notes on operation and service Documentation note You must adhere to the information in the documentation to ensure Fault free operation Fulfillment of any rights to claim
11. Assembly and Installation Routing and shielding the bus cable Routing and shielding the bus cable Only use shielded cables and connection elements that also meet the requirements of category 5 class 2 according to IEC11801 edition 2 0 Correct shielding of the bus cable attenuates electrical interference that may occur in industrial environments The following measures ensure the best possible shielding Manually tighten the mounting screws on the connectors modules and equipotential bonding conductors Use only connectors with a metal housing or a metallized housing Connect the shielding in the connector over a wide surface area Apply the shielding of the bus cables on both ends Route signal and bus cables in separate cable ducts Do not route them parallel to power cables motor leads Use metallic grounded cable racks in industrial environments Route the signal cable and the corresponding equipotential bonding if necessary close to each other using the shortest possible route Avoid using plug connectors to extend bus cables Route the bus cables closely along existing grounding surfaces In case of fluctuations in the ground potential a compensating current may flow via the bilaterally connected shield that is also connected to the protective earth PE Make sure you supply adequate equipotential bonding according in accordance with relevant VDE regulations in such a case Manual XFE24A EtherCAT Fieldbus I
12. Diagnostics gt Single axis positioning 200 CHSEENNEEENNEEN i e Pm ER Motion Technology Editor s Project unit X Remove Properties 11657AXX Figure 7 Starting the Single Axis Positioning Technology Editor 22 Manual XFE24A EtherCAT Fieldbus Interface EtherCAT Configuration and Startup go Settings on the MOVIAXIS servo inverter using the example of single axis Manual settings Manual setting of the communication and PDO configurations Start the PDO Editor S MOVITOOLSR Motion Studia SEW Default Project Edit Network View Plugn Settings Window Help DE Oe SBR Wee r te XiGE 1 f amp Detaut 9 2 PDD editor 1001 No signature A Deot ES Eihemet Configuration of process data flow Ef 1632547 254 SMLP Etherca Gote EU Ethercat e 1001 No signature pe 1002 SI d 1 1 1 Basic settings Conversion to internal system units IN process dala interface Settings IN buffer 0 Word p Data source Communication optio o a Data lack start o o 99 umber of date words 1 Time out interval ms 100 000 Update On X Configuration eror No fauk PDO never received before 7 CAN Message ID bo 1 Data acceptance with Sync fo si oo Od Endaness Poes z D Me SL Communication option i PDOD MH 1 11658AXX Figure 8 Manual settings For operatio
13. OPERATIONAL state Flickering green INITIALISATION or BOOTSTRAP The XFE24 option is starting up and has not yet reached the INIT state The XFE24A option is in the BOOTSTRAP state The firmware is being down loaded Flashing orange NOT CONNECTED The XFE24A option was not yet addressed by an EtherCAT master after switching it on ERR LED red The LED ERR red indicates an EtherCAT error Status Error Description Off No error The EtherCAT communication of the XFE24A option is in operating state 3 A boot error was detected The INIT state was reached but the Change parameter Flickering SODESITOE in the AL status register is set to 0x01 change error Flashing Invalid configuration General configuration error Flashing once Unprompted state change The slave application has changed the EtherCAT state by itself The Change param eter in the AL state register is set to 0x01 change error Flashing twice Timeout of the applica tion watchdog A watchdog timeout has occurred in the application Flashing three times Reserved Flashing four times Reserved On PDI watchdog timeout A PDI watchdog timeout occurred 16 Manual XFE24A EtherCAT Fieldbus Interface Assembly and Installation Operating displays and settings LED link IN LED link OUT Definition of Each EtherCAT connection for incoming EtherCAT cables X30 an
14. PI11 PI12 T PILS 1 PI14 T PI15 nrc E 0 2 8 a s S 5 gt gt 666066000291 e oof 2 Manual XFE24A EtherCAT Fieldbus Interface Dl SYSTEM Configuration WB uc Configuration Bg NC Task 1 SAF B3 NC Task 1 SVB a NC Task 1 Prozessabbild E Tables Sta Achsen am Axis 1 Axis 1 Enc l Axis 1_Drive QT Eing nge l Ausg nge E A Axis 1_Drive_Out nOutDatal noutDatai 0 nOutDatai 1 EAL nOutData2 nctilt nctrl2 nctrls l nctri4 Taq Axis 1 Ctrl QT Eing nge i Ausg nge BA PLC Configuration B S SPS af SPS Image i Standard 9f Inputs l Outputs DL Controlword Uli 1 0 Configuration zB 1 0 Devices EtherCAT Master EtherCAT Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info Q Eing nge Ql Ausg nge InfoData E i Axis 1 MOVIAXIS XFE24 amp QT InputData1 Standard 16 PI OutputDatal Standard 16 PO i Pot Po2 Po3 i Po4 Pos P06 P07 Pos l Po9 Po10 Poi i Po12 i P013 PO14 l p 1c n ago 7 9 Finally the setpoint speed and the actual position of the drive are linked to the NC axis The
15. Step 3 How does the ERR LED respond 61 Assignment of the permanently configured Diagnostic procedures process input data for PDO InputData1 21 Step 1 Checking correct connection of the Assignment of the permanently configured servo inverter to the EtherCAT 60 process output data for PDO OutputData1 20 Diagnostics ier Ge Eebuitismd utilice a i uda 11 List of possible process data objects PDO ssesessssss 19 E Rx process data objects 19 Error class n endet i eid ee 34 Static PDO for 16 cyclical Error Code iore ette 34 process data words 2 cccccccccccccccececeuceceuenses 20 Error diagnostics ssssssssssssssssss 60 Tx process data objects c e 19 EtherCAT PDO EGIOF a2 ot olet tfe reis saca bees Uo 11 Configuration of option card 10 Position mode utat chen dn toes eater te msec 44 Data exchange ssssssseeee 10 Process data objects PDO configuration Functions en ete ed ce ee a 36 For cyclical EtherCAT operation 19 Operating behavior esses 25 Parameter setting sss 30 R Example TwinCAT Return codes of configuration 34 Configuring clock synchronous operation 48 S pase aad LAE LI M ALI ELM 2 SDO services B EVE Xs READ and WRITE sees 90 F Settings for Position mode Functions Configuration of the FCB10 interpolated Ether ATA eus oin Los
16. control and status word 1 is controlled by teh PLC task according to the description in the MOVIAXIS project planning manual following figure 11718AXX 51 8 go Operating MOVITOOLS MotionStudio via EtherCAT Introduction 8 Operating MOVITOOLS MotionStudio via EtherCAT This section describes the operation of the MOVITOOLS MotionStudio via EtherCAT 8 1 Introduction EtherCAT provides the user with acyclical parameter services in addition to cyclical pro cess data This acyclical data exchange is performed via the mailbox gateway of the EtherCAT master following figure The parameter services of MOVITOOLS MotionStudio are integrated into the Ether CAT telegrams via the mailbox gateway in the EtherCAT master The feedback of the drives is transferred by the XFE24A in the same way to the mailbox gateway and further to MOVITOOLS MotionStudio EtherCAT Master cycl InputData1 acycl Mailbox Standard 16 Pl Communication EtherCAT EtherCAT 61999AXX VoE Vendor specific over EtherCAT is activated on the EtherCAT master and the EtherCAT mailbox is set up A connection to the drive can then be established by means of VoE and MOVITOOLS MotionStudio can be used online 52 Manual XFE24A EtherCAT Fieldbus Interface Operating MOVITOOLS MotionStudio via EtherCAT go 8 Required hardware 8 2 Required hardware If a suitable operating system for MOVITOOLS
17. master if problems occur Manual XFE24A EtherCAT Fieldbus Interface 25 6 26 ago 6 1 1 Operating Behavior on EtherCAT Control of the MOVIAXIS multi axis servo inverter Control example in TwinCAT with MOVIAXIS Once the file SEW XFE24A xml has been copied to the TwinCAT subdirectory IO EtherCAT you can add MOVIAXIS to the EtherCAT structure in the offline mode via Append box 2 following figure Lu Y uw AB COD CMM ICeX TIERS RE JERS JOS SR SA LORS MA SD ay FSO K SeQlsle em eu insert tthercat Device Multiple i 3j oK Lum B MOVIDRIVE DFE24 cp Bi OFE24 Gateway Mig MOVIAXIS XFE24 11641AXX In online mode i e connected to the EtherCAT line you can use the Symbol Search for units symbol to search for MOVIAXIS units connected to the EtherCAT line gt fol lowing figure Getting Started tsm TwinCAT System Manager Fle Edit Achons View Options Help ic SYSTEM Configuration BNC Configuration m B NC Task 1 SAF Bl PLC Configuration E Ul uo Configuration EHS 1 0 Devices EtherCAT Master EtherCAT she EtherCAT Master Image 11642AXX For simple fieldbus functionality it is not necessary to create NC axes for each found unit Manual XFE24A EtherCAT Fieldbus Interface Operating Behavior on EtherCAT go 6 Control of the MOVIAXIS multi axis servo inverter Now you can link up to 16 process data words to th
18. module in two steps 1 Creating an instance of the function module FB EcCoESdoREAD 2 The inputs of the function module are assigned as follows SNetlD Specification of the Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW unit from which the data is read nlindex Index of the parameter to be read e nSubIndex Subindex of the parameter to be read pDstBuf Pointer to the data range in which the read parameters are to be stored e cbBufLen Maximum memory size for parameters to be read in byte bExecute A positive edge starts the read process tTimeout Timeout interval of the function module The output flags bBusy and bError indicate the state of the service nErrld the error num ber when flag bError is set if applicable You can display information about the index and the subindex of the parameter to be read in the parameter tree by moving the cursor over the respective parameter The in formation is then displayed as a tool tip The function module is integrated in TwinCAT as follows File Edit Project Insert Extras Online Window Help S xm epesp es Reo x Esca coi 0001 PROGRAM MAIN X POUs E FERRE Read Data DWORD ReadSdo FB EcCoESdoRead sNetld 192 168 187 1 2 1 AMS NetlD ofthe EtherCA nSlaveAddr 1001 EtherCAT Address of the S nindex 9789 e g DC link voltage index nSublndex 1 pDstBuf ADR Read Data pointer to the v
19. ms Manual XFE24A EtherCAT Fieldbus Interface 7 39 7 40 ago Motion Control via EtherCAT EtherCAT introduction 7 1 2 Settings for Velocity mode speed interface IN process data Conversion to internal system units IN process data interface words d 192 FCBO1 Output stage inhibit FCB 13 Stop at application limits FCB 15 Stop at system FCB 19 Hold control Fault reset FCB 06 Interpolated speed control Words Worde Word 7 Words No function Accept position Feed enable Jog CW Word 9 Word 10 Word 11 Jog CCW Jog velocity selection FCB 20 Jog mode FCB 12 Reference travel Word 12 Word 13 Word 14 FCB 03 Positioning FCB21 Brake test EIE sss Word 15 Figure 16 IN process data ae seas FCB 01 Output stage inhibit FCB 13 Stop at application limits FCB 15 Stop at system limits FCB 13 Hold control Fault reset FCB 06 Interpolated speed control No function Accept position Feed enable Jog CYY Jog CCYY Jog velocity selection FCB 20 Jog mode FCB 12 Reference travel FCB 03 Positioning FCB 21 Brake test ECEEEEEEEREEEEEE Figure 17 Control word 0 settings A Conversionto user defined units
20. ms hs Setpoints Process data buffer channel x So Limit values singe channel x Application limit torque ha fi 0 000 Actual values Setpoint source velocity Setpoint local velocity 14min Torque limit mode Torque limit Q1 abs Source Torque limit Q1 abs local z Velocity 1 min FCB 06 Interpolated speed control 11665AXX Figure 19 Configuration of the FCBO6 Set the cycle time of your EtherCAT controller in the controller setpoint cycle parameter e g 1 ms In addition to that the source for the speed setpoint must be set here process data buff er channel 1 Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT EtherCAT introduction ago OUT process data OUT buffer 0 links Data processing v Parameter Routing Outs Actual speed Ins ET EE Exe Position Apparent current No quantity i No quantity No quantity l TERE No quantity No quantity No quantity No quantity No quantity No quantity No quantity No quantity No quantity Conversion to user defined units p gt MSs word o Ready for operation o Fault o Output stage on o Brake released o No function o No function 0 No function o No function o No function o No function 2 No function 2 No function a No function o No function o No function 0 No functio
21. sssr 48 B Introduction sesiet a 36 Bus cable Position mode iciatis cipe 44 ROUINO ree te heute thee eee 14 Settings in the EtherCAT master 47 Shielding 2 iiie ders 14 Velocity moda td esi id 39 Bus termination ssssssssssss 15 63 MOVITOOLS MotionStudio C Operation via EtherCAT essensen 52 Clock synchronism errira 37 N Example igitiir tes 37 Notes Configuration Assembly installation 12 EtherCAT master for MOVIAXIS using Documentation vus sorde etua aired 6 the XML file i oed tsi ts 18 Mailbox gateway sassen 54 o miu o 7 MC 18 Online operation activation 59 Return codes x cesa eed mt ue 34 Operating behavior on EtherCAT 25 Configuration of EtherCAT option card 10 Operating displays and settings Connection technology sene 63 Definition of display statuses Tf Connector assignment LED ERR TOU ianua ees 16 XFE24A EtherCAT connection 13 LED link IN ui nes 17 Contr cocer Ttc atur a Lii e eae 25 LED link OUT sassen 17 WO VIA NUS Lis sii spassiitsh td rte 25 LED RUN green orange ss 16 Control example esses 26 P D Parameter setting Data exchange via EtherCAT ccce 10 Via EtherGAT circ cei Reste 30 Diagnostic procedure Part n mber i II 63 Step 2 How does the RUN LED respond 60 PDO configuration
22. under limited warranty Consequently read through this manual carefully before you start installation and startup of the frequency inverters with the EtherCAT XFE24A option card This manual assumes that the user has access to and is familiar with the MOVIAXIS Multi Axis Servo Inverter operating instructions and the MOVIAXIS Multi Axis Servo Inverter project planning manual Product names and trademarks The brands and product names in this manual are trademarks or registered trademarks of the titleholders Waste disposal Please follow the current national regulations Dispose of the following materials separately in accordance with the country specific regulations in force as Electronics scrap Plastics Sheet metal Copper etc Manual XFE24A EtherCAT Fieldbus Interface Safety Notes General information 2 Safety Notes The following basic safety notes are intended to prevent injury to persons and damage to property The operator must make sure that the basic safety notes are read and ob served Make sure that persons responsible for the plant and its operation as well as persons who work independently on the unit have read through this manual and the MOVIAXIS Multi Axis Servo Inverter operating instructions carefully and understood them If you are unclear about any of the information in this documentation or if you require further information please contact SEW EURODRIVE N
23. 1 Default 1001 Scanrange end 1010 Default 1010 Show scan durance Default Na Ethercat master IP address list teen 61937AXX For the basic settings observe the specified unit scan range Scan range start end fields EtherCAT addresses 1001 to 1010 are scanned as standard For large Ether CAT networks you must adjust this unit scan range accordingly 4 In the Settings Options menu call up the Online mode menu item Ensure that the Never execute automatically 1 option is ticked in the Cyclic accessibility field n Application start Online mode View Cyclic accessibility test Online mode ENUSESECERDUEMNSNESS Never execute automatically Communication C Execute automatically Help Request interval in ms iol Miscellaneous 61938AXX Manual XFE24A EtherCAT Fieldbus Interface 57 8 58 go Operating MOVITOOLS MotionStudio via EtherCAT Automatic search for connected units unit scan 8 8 Automatic search for connected units unit scan After pressing function key F5 or the Online scan symbol all configured com munication channels are searched automatically and accessible units are displayed in the unit tree Ex MoviTOOLS amp MotionStudio EtherCAT_doku Project Edit Network View Pion Settings Window Help Oe OE Gh BOB wie r gt tix GR e B e 169 254 36 20 SMLP Ethercat Gateway ST Ethercat
24. 40042 6 4 42 MAPPED OBJECTS EXCEED PDO Number of mapped objects is to large for PDO 0x06040043 6 4 43 PARAM IS INCOMPATIBLE Data format is not compatible with index 0x06040047 47 INTERNAL DEVICE INCOMPATIBILITY Internal unit error 0x06060000 0 HARDWARE ERROR Internal unit error 0x06070010 6 7 10 PARAM_LENGTH_ERROR Data format for index is the wrong size 0x06070012 6 7 12 PARAM_LENGTH_TOO_LONG Data format for index is too large 0x06070013 6 7 13 PARAM_LENGTH_TOO_SHORT Data format for index is too small 0x06090011 6 9 11 SUBINDEX_NOT_EXISTING Subindex not implemented 0x06090030 6 9 30 VALUE_EXCEEDED Value invalid 0x06090031 6 9 31 VALUE_TOO_GREAT Value too high 0x06090032 6 9 32 VALUE_TOO_SMALL Value too low 0x06090036 6 9 36 MAX_VALUE_IS_LESS_THAN_MIN_VALUE Maximum limit for the value is smaller than the minimum limit 0x08000000 8 0 0 GENERAL ERROR General error 0x08000020 20 DATA CANNOT BE READ OR STORED Access error to data 0x08000021 0 21 DATA CANNOT BE READ OR STORED Data access error due to local con BECAUSE OF LOCAL CONTROL trol 0x08000022 8 0 22 DATA CANNOT BE READ OR STORED Data access error due to unit status IN THIS STATE 0x08000023 8 0 23 NO OBJECT DICTIONARY IS PRESENT No object dictionary is present Manual XFE24A EtherCAT Fieldbus Interface 9 35 Motion Control via EtherCAT 7 EtherCAT introduction 7 Motion Contro
25. Conversion to internal Bg k A B system units IN process data interface Data processing words EIN 0 FCB01 Output stage o ipplication limits wv Parameter Routing FCB 15 Stop at system limits Outs fo E FCB 13 Hold control o Fault reset Sou seen fo sd ford ECB 10 jeterpolated Position Word S e Rb Apparent current 05 PU EN Active current Yid T Feed enable ir Erana A Nord 8 Jog CW No quantity Word 9 Jog COW No quantity Word 10 Jog velocity selection No quantity fo Word 12 FCB 12 Reference travel Noquantity b_ E Word 13 FCB 09 Positioning No quantity fs Word 14 FCB 21 Brake test No quantity o Word 15 No quantity No quantity No quantity 11667AXX Figure 22 IN process data Control word settings 0 x Local control word fo Layout Programmable layout Programming control word Function Bit 00 ffc 01 Output stage inhibit Function Bit 01 Foe 13 Stop at application limits Function Bit 02 Foe 15 Stop at system limits Function Bit 03 fc 19 Hold control Function Bit 04 Faut reset Function Bit 05 ffc 10 Interpolated positioning Function Bit 06 Ns function Ke Function Bit 07 accent position Function Bit 08 Feed enable Function Bit 09 flog cw Function Bit 10 fi og CCW v
26. EtherCAT master for MOVIAXIS using the XML file ago Assignment of the permanently con figured process input data for PDO InputData 1 Figure 6 Assignment of standard process input data for PDO InputData1 cycl InputData1 Standard 16 PI Communication acycl Mailbox 61993AXX The process input data transferred with nputData1 are permanently assigned according to the following table Process input data PI1 PI16 can be linked to different process data status words actual values via the PDO Editor in the MOVIAXIS multi axis servo inverter gt MOVIAXIS Multi Axis Servo Inverter project planning manual Index Subindex Offset inthe PDO Name Data type Size in bytes 3E1C 0hex 0 0 PI1 UINT 15900 0dez 3E1D 0hex 2 0 PI2 UINT 15901 0dez 3E1E 0hex 4 0 PI3 UINT 15902 0dez 3E1F 0hex 6 0 PIA UINT 15903 0dez 3E20 0hex 8 0 PI5 UINT 15904 0dez 3E21 0hex 10 0 PI6 UINT 15905 0dez 3E22 0hex 12 0 PI7 UINT 15906 0dez 3E23 0hex 14 0 PI8 UINT 15907 0dez 2 3E24 0hex 16 0 PI9 UINT 15908 0dez 3E25 0hex 18 0 PI10 UINT 15909 0dez 3E26 0hex 15910 0dez 20 0 PI11 UINT 3E27 0hex 15911 0dez 22 0 PI12 UINT 3E28 0hex 15912 0dez 24 0 PI13 UINT 3E29 0hex 15913 0dez 26 0 PI14 UINT 3E2A 0hex 15914 0dez 28 0 PI15 UINT SE ee hex 30 0 PI16 UINT 15915 0dez Manual XFE24A EtherCAT Fieldbus Interface
27. Function Bit11 Jog velocity selection M Function Bit12 FCB 20 Jog mode M Function Bit13 FCB 12 Reference travel g Function Bit 14 fce 09 Positioning Function BTS FCB 21 Brake test 11720AEN Figure 23 Control word 0 settings Manual XFE24A EtherCAT Fieldbus Interface 45 7 46 Motion Control via EtherCAT EtherCAT introduction qu IN buffer 0 links Control word 0 settings IN process data settings Establish a connection from status word 0 and IN process data to the IN buffer 0 using drag amp drop The assignment of control word 0 differs from the process data link for Velocity mode For calling up the FCB10 interpolated positioning it must be configured in a control word here control word 0 Make the sample settings in control word 0 according to Figure 23 Set the IN process data according to the following figure Settings IN process data Channel 32 bit access System unit og ei DELL Figure 24 IN process data settings 11668AXX Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT go 7 Configuration of the FCB10 inter I n Co al po ated posi tion a MOVIAXIS FCB parameter setting FCB 10 Interpolated positioning x ing i 5 9 moviaxise General parameters al Display values Setpoint cycle control Process values active drive r c e ES Unit status Filter setpoint position aa FCB para
28. MotionStudio is installed in the Ether CAT controller no further hardware is required If no suitable operating system is available or if MOVITOOLS MotionStudio is to be op erated from a different PC the EtherCAT master requires a second Ethernet interface which is connected via LAN to the PC on which MOVITOOLS MotionStudio is installed following figure Engineering LAN Ethernet TCP IP lt lt Uu EtherCAT 62001AXX MBX Mailbox gateway MMS MOVITOOLS MotionStudio 8 3 Required software MOVITOOLS MotionStudio version 5 40 and higher 8 4 Installation Install MOVITOOLS MotionStudio according to the MOVITOOLS MotionStudio manual Manual XFE24A EtherCAT Fieldbus Interface 53 54 8 ago 8 5 8 6 Configuration of the mailbox gateway Operating MOVITOOLS MotionStudio via EtherCAT Configuration of the mailbox gateway Activate the VoE EoE support of the EtherCAT controller Determine the IP address of the EtherCAT mailbox gateway Usually the IP address is assigned by the TwinCAT program It should not be changed In the TwinCAT program of Beckhoff the above settings look as follows Advanced Settings State Machine EvE Support Master Settings Slave Settings Virtual Ethernet Switch Windows Network 2 Cyclic Frames v Enable V Connect to TCP IP Stack Distributed Clocks EcE Support Max Porte 2 Windows IP Routin
29. OLS MotionStudio allows you to communicate with the electronics products from SEW EURODRIVE GmbH amp Co KG via several different communication paths at the same time When you start MOVITOOLS MotionStudio the SEW communication server is also started and an additional icon will appear in the Windows status bar pi 4 steps are involved in configuring the communication 1 Open the settings window of the SEW communication server by clicking on the Communication connection icon in the toolbar following figure or via the Net work communication connections menu 61932AXX 2 Configure an Ethernet interface To do so select the Ethernet option from the selection field 1 Under Protocols tick the entry Activate EtherCAT 2 Then click on the Configure EtherCAT button 3 1 Configure communication plugs pn M Activate Y Expand 2 xj Protocols IV Activate Ethercat Default value No IM Activate SMLF Default value Yes Configure ethercat 3 Configure SMLP care 61936AXX Manual XFE24A EtherCAT Fieldbus Interface Operating MOVITOOLS MotionStudio via EtherCAT go 8 Configuration of the SEW communication server 3 The Configure EtherCAT window opens Click on the button 1 to add the IP address of the mailbox gateway in the EtherCAT master Basic settings Timeout 120 Default 120 Scanrange start 100
30. OTE This communication system allows you to adjust the MOVIAXIS multi axis servo in verter to a variety of different applications As with all bus systems there is a danger of invisible external as far as the servo drive is concerned modifications to the parameters which give rise to changes in the unit behavior This may result in unexpected not uncontrolled system behavior 2 1 2 2 General information Never install damaged products or take them into operation Submit a complaint to the shipping company immediately in the event of damage During operation multi axis servo inverters can have live bare and movable or rotating parts as well as hot surfaces depending on their enclosure Removing covers without authorization improper use as well as incorrect installation or operation may result in severe injuries to persons or damage to property Refer to the documentation for more information Target group Only qualified personnel are authorized to install startup or service the units or correct unit faults observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and IEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines Qualified personnel in the context of these basic safety notes are persons familiar with installation assembly startup and operation of the product who possess the necessary qualifications All activity in the other areas of transportation storage operation and di
31. RD LWR instead of LAW IV Include State Iv Include WC State Bit s Iv Include Ads Address Include AoE Netld Iv Include Drive Channels r General Noutolnc Use 2 Addre r Watchdog Iv Set Multiplier Reg 400h Iv Set PDI Watchdog Reg 410h IV Set SM Watchdog Rea 420h iS fo 000 ms fi 00 008 fi 00 zi OK Abbrechen 61456AXX Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT go NC axis configuration Example TwinCAT Check the timeout monitoring for the sync manager 0x1000 To do so tick the Watch dog Trigger option in the Edit Sync Manager window following figure and enter the watchdog time in the Value field Advanced Settings x E General Behavior T pra Timeout Settings L EndBit C1 Cancel FMMU SM O 00010000 0 4 Start Address Init Commands 0x00010000 0 20 ps amp Mailbox s Access Distributed Clock Length C Read ESC Access fo write Interrupts Iv Enable toEtherCAT IV to PDI Ox00010026 Ox1 BFA 250 0x00010022 Watchdog ox1000 4 Ox0007 0064 ENS zi 0x1200 20 0x00010022 Malus B z Time ms o Append Delete Edit OK Abbrechen 61457AXX Then the NC axis is configured following figure EtherCAT Doku tsm TwinCAT System Manager File Edit Actions Yiew Options Help JD uw ASE 4BRL MSD
32. You are allowed to perform installation and startup of the EtherCAT XFE24A fieldbus interface only when observing applicable accident prevention regulations and the MOVIAXIS Multi Axis Servo Inverter operating instructions Adhere to the instructions in section 5 EtherCAT Configuration and Startup Manual XFE24A EtherCAT Fieldbus Interface Introduction Content of the manual 3 3 1 3 2 3 3 3 3 1 Introduction Content of the manual This user manual describes MOVIAXIS startup on the EtherCAT fieldbus system The configuration of the EtherCAT master using XML files Operating MOVITOOLS MotionStudio via EtherCAT Additional documentation Features For information on how to connect MOVIAXIS straightforwardly and effectively to the EtherCAT fieldbus system in addition to this user manual on the EtherCAT option you should request the following publication MOVIAXIS Multi Axis Servo Inverter operating instructions MOVIAXIS Multi Axis Servo Inverter project planning manual The MOVIAXIS Multi Axis Servo Inverter project planning manual contains a list of all parameters of the servo inverter that can be read or written via the various communica tion interfaces such as system bus and also via the fieldbus interface The MOVIAXIS multi axis servo inverter enables you to use the XFE24A option to con nect to higher level automation systems via EtherCAT thanks to its powerful universa
33. age 3 Depending on the counter torque caused by the driven machine 4 the motor runs with a certain speed measured by encoder 5 Depending on the motor speed a position change occurs which is detected by a position encoder 5 on the motor Depending on the application the control loops for torque speed or position can now be closed in the servo inverter or in the higher level controller MOVIAXIS can take over all control loops including position control In this case positioning travel can only be performed when a setpoint position is transferred to the servo inverter e g Bus Posi tioning application module The current position and once the positioning command has been executed a ready message is sent to the controller 36 Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT go 7 EtherCAT introduction In motion control applications positioning travel with target position and travel parame ters such as speed and ramp time is administered in the motion controller that is usu ally the higher level controller From the calculated path curve a setpoint speed sec 7 2 1 or setpoint position sec 7 2 2 is tranmitted to the servo inverter in short intervals The servo inverter then sets this setpoint speed or position and reports the cur rent position back The motion controller knows by itself when the positioning command has been executed Since the higher level controll
34. al XFE24A EtherCAT Fieldbus Interface 5 19 5 20 ago EtherCAT Configuration and Startup Configuring the EtherCAT master for MOVIAXIS using the XML file Static PDO for 16 cyclical process data words Assignment of the permanently con figured process output data for PDO OutputData1 P SEN iCommunication _ Standard 16 PO 61992AXX Figure 5 Assignment of standard process output data for OutputData1 The process output data transferred with OutputData1 are permanently assigned ac cording to the following table The process output data PO1 PO16 can be linked to different process data control words setpoints via the PDO Editor in the MOVIAXIS multi axis servo inverter gt MOVIAXIS Multi Axis Servo Inverter project planning manual Index Subindex Offset in the PDO Name Data type Size in bytes Bao Dde 0 0 PO1 UINT 600i 0093 2 0 PO2 UINT 190020093 4 0 PO3 UINT sees Ges 6 0 PO4 UINT 18804 daz 8 0 POS UINT 18805 0daz 10 0 PO6 UINT Tcu 12 0 PO7 UINT 18807 008 14 0 PO8 UINT ES 16 0 PO9 UINT 15809 0dez TO PO10 UINT 156 10 0de2 20 0 PO11 UINT i881 L 0de2 22 0 PO12 UINT 15812 0de2 240 PO13 UINT 15013 0de2 26 0 PO14 UINT Abate Dedi 28 0 PO15 UINT 18815 0dez m PO16 UINT Manual XFE24A EtherCAT Fieldbus Interface EtherCAT Configuration and Startup Configuring the
35. am Output offset 1 0 1 0 nmon oron INEAR 0 u a Axis 1_Drive ias Axis 1 Ctrl QT Eing nge D i Ausg nge 11717AXX MOVIAXIS factory settings for speed The setpoint speed Reference Velocity maximum motor speed x 6 is given with the conversion factor at Output Ratio 0 0 1 0 maximum motor speed 215 de pending on the scaling factor in MOVIAXIS MOVIAXIS user travel units and scaling factors that deviate from the factory setting must be adjusted accordingly using the conversions and factors stated above 50 Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT Example TwinCAT Dll SYSTEM Configuration BB NC Configuration Ci B3 NC Task 1 SAF B3 NC Task 1 SVB f NC Task 1 Prozessabbild E Tables ta Achsen E ist Axis 1 E4 Axis 1 Enc B t Eing nge EST Axis 1_Enc_In 49f nInDatal HT nInDatai 0 HT nInDatai 1 ST nInData2 Q1 nStatusi QT nStatus2 QT nStatus3 Q1 nStatus4 Bl i Ausg nge al Axis 1_Drive Taq Axis 1 Ctrl QT Eing nge H l Ausg nge lf PLC Configuration ES SPS f SPS Image B3 Standard f Inputs HT Statusword l Outputs 1 0 Configuration H E 1 0 Devices f EtherCAT Master EtherCAT Ger t 1 Prozessabbild Ger t 1 Prozessabbild Info QT Eing nge l Ausg nge InfoData dg Axis 1 MOVIAXIS XFE24 Qf InputDatat Standard 16 PI T PL T PI2 PI3 PI4 PIS PI6 PI PIS PI9 PI10
36. ariable cbBufLen 4 number of Bytes of the index bExecute FALSE tTimeout T 500ms 11661 AXX Figure 12 Integration of the function module in TwinCAT In the above example the DC link voltage was read off 9789 1 The number 610000 is received for example which corresponds to a voltage of 610 V according to the MOVIAXIS parameter description Manual XFE24A EtherCAT Fieldbus Interface 31 6 32 go Operating Behavior on EtherCAT Parameter setting via EtherCAT 6 2 3 Writing a parameter via TwinCAT example The function SDO WRITE is available for writing a parameter The index of the param eter to be written is necessary For implementation in TwinCAT the function module FB EcCoESdoWrite is required This function module is available in the TcEtherCAT lib library You can integrate this function module in two steps 1 Creating an instance of the function module FB EcCoESdoWrrite 2 The inputs of the function module are assigned as follows SNetlD Specification of the Net ID of the EtherCAT master nSlaveAddr EtherCAT address of the SEW unit from which the data is read nlndex Index of the parameter to be read e nSubIndex Subindex of the parameter to be read pDstBuf Pointer to the data range in which the read parameters are to be stored cbBufLen Maximum memory size for parameters to be read in byte bExecute A positive edge starts the read process tTimeou
37. d identification of the error cause within the error class For Error class 8 Other error only Error code 0 Other error code is defined In this case detailed identification is made using the additional code 6 3 4 Additional code The additional code 2 bytes includes the detailed error description Manual XFE24A EtherCAT Fieldbus Interface Operating Behavior on EtherCAT Configuration return codes ago 6 3 5 List of implemented error codes for SDO services Error code Error Error Additional Designation Description class code code 0x00000000 0 0 0 NO ERROR No error 0x05030000 5 3 0 TOGGLE_BIT_NOT_CHANGED Error in the toggle bit during seg mented transfer 0x05040000 0 SDO_PROTOCOL_TIMEOUT Timeout during execution of service 0x05040001 1 COMMAND SPECIFIER UNKNOWN Unknown SDO service 0x05040005 5 OUT OF MEMORY Memory overflow during execution of SDO service 0x06010000 1 0 UNSUPPORTED ACCESS Unauthorized access to an index 0x06010001 1 1 WRITE ONLY ENTRY Index may only be written to but not be read 0x06010002 6 1 2 READ ONLY ENTRY Index may only be read but not be written to parameter lock active 0x06020000 6 2 0 OBJECT NOT EXISTING Object does not exist incorrect index Option card for this index does not exist 0x06040041 6 4 41 OBJECT CANT BE PDOMAPPED Index may not be mapped into a PDO 0x060
38. d outgoing Ether CAT cables X31 has a Link Activity LED The LED shows whether the EtherCAT link to the previous unit X30 or the next unit X31 in line exists is active display statuses Display Definition Timeline On The display is on permanently Off The display is off permanently 50ms The display switches between on and s Flickering off in common mode with a frequency of 10 Hz off 50ms 58094AXX 50ms on The display flickers once very shortly Flickering once followed by an off phase off 58095AXX The display switches between on and on Flashin off in common mode with a frequency 200ms 200ms g of 2 5 Hz 200 ms switched on 200 ms _ off Switched off 58096AXX The display flashes once shortly 200 a Flashing once ms followed by a longer off phase M 200ms 8 x 1000ms HL 58097AXX on Flashing twice The display flashes twice in quick suc 200ms 200ms 200ms 1s cession followed by an off phase t L 1l Lo 58100AXX on Flashing three The display flashes three times in quick 200ms 200ms 200ms 200ms 200ms 1s times succession followed by an off phase nd L gt 1 Ll 58101AXX Flashing four times The display flashes four times in quick succession followed by an off phase on 200ms 200ms 200ms 200ms 200ms 200ms off 200ms lt 1s 58102AXX Manua
39. e index of the setpoint local velocity pointer to the source variable number of Bytes of the index 11662AXX SEW parameter always have a data length of 4 Byte 1DWord For scaling and a more detailed description refer to the MOVIAXIS Project Planning Manual In the above example the Local speed setpoint 9598 2 is set to a speed of 100 1 min Manual XFE24A EtherCAT Fieldbus Interface 33 6 34 go Operating Behavior on EtherCAT Configuration return codes 6 3 Configuration return codes 6 3 1 Elements 6 3 2 Error class 6 3 3 Error code In the event of an incorrect parameter setting the servo drive sends back various return codes to the master which sets the parameters These codes provide detailed informa tion about what caused the error Generally these return codes are structured according to the following elements Error class Error code Additional code The error class element 1 byte provides a more exact classification of the error type Class hex Designation Meaning 1 vfd state Status error of the virtual field device 2 application reference Error in application program 3 definition Definition error 4 resource Resource error 5 service Error during execution of service 6 access Access error 7 ov Error in the object list 8 other Other error The error code element 1 Byte allows for a more detaile
40. e which of the servo inverter s fault respons es should be triggered in the event of a bus error It is a good idea to use a rapid stop function for many applications However you can also freeze the last setpoints so that the drive continues to operate with the most recently valid setpoints for example con veyor belt As the range of functions for the control terminals is also guaranteed in field bus mode you can continue to implement rapid stop concepts using the terminals of the servo drive irrespective of the fieldbus used The MOVIAXIS multi axis servo inverter offers numerous diagnostic options for startup and service For example you can use the integrated fieldbus monitor to control setpoint values sent from the higher level controller as well as the actual values Furthermore you are supplied with a variety of additional information about the status of entire process data flow The PDO Editor in conjunction with the MOVITOOLS MotionStudio PC software offers you an easy to use diagnostic tool for setting all drive parameters including the fieldbus parameters and for displaying the fieldbus and unit status information in detail Manual XFE24A EtherCAT Fieldbus Interface 11 4 Assembly and Installation Prerequisites 4 Assembly and Installation 41 Prerequisites For operation on EtherCAT bus systems only MOVIAXIS units that fulfill the following criteria may be used The designation XFE24A is on th
41. e PLC program or write data into them for manual testing as shown in the following figure VELLE arted MX Velocity tsm TwinCAT System Manager File Edit Actions View Options Help Pri SA t PRS Aa sss 5s amp s9wIgalglet ieet 1 0 Configuration ci M 1 0 Devices E E EtherCAT Master EtherCAT sf Ger t 1 Prozessabbild af Ger t 1 Prozessabbild Info 5 QT Eing nge E l Ausg nge B InfoData E gd Axis 1 MOVIAXIS XFE24 S T InputDatal Standargaf amp PT Set Value Dialog i Pos i Po10 i Poll i Po12 i P013 i Pols i Pois i P016 Boot Hex edt Bey n e C18 Ci CRMC 11644AXX First mark the process output data PO1 In the following window select the Online tab page Click the Write button The Set Value Dialog window opens Enter your data in the field Dec or Hex Handle all other process output data in the same way Manual XFE24A EtherCAT Fieldbus Interface 27 6 go Operating Behavior on EtherCAT Control of the MOVIAXIS multi axis servo inverter 6 1 2 EtherCAT timeout monitoring MOVIAXIS Use the parameter Communication Basic settings Communication option to set the monitoring time for the EtherCAT option card XFE24A If this monitoring time is exceed ed during the process data configuration an error message is issued see Error re sponse sec 6 1 3 Parameter setting timeout O 100 650 000 ms Up to firmware
42. e e dele 36 positioning codicc a pipi tepe erp EDA 4T Control word 0 settings ssssssss 46 M IN buffer O links ouise 46 Mailbox gateway configuration 54 IN process data ilc temario me ibd 45 Manual XFE24A EtherCAT Fieldbus Interface Index IN process data settings uussss OUT process data eeeeeeeeee Settings for Velocity mode Configuration of the FCBO6 interpolated Speed teo botte v Ehe Control word 0 settings n e IN buffer O links IN process data iiei een eaaa IN process data settings ssssss OUT buffer O links OUT process data ssssssssssss SEW communication server ssssss Single axis positioning Manual settings sesssseeene Settings with software assistant Station address iiit e edite n Settings inue ers T Technical Data Option XFE24A for MOVIAXIS AD WUC AD MET U Unit Scan ei quite V Velocity mode eee X AMETS 55 REDE r For EtherCAT sss Validity for XFE24A sssssseeeeee Manual XFE24A EtherCAT Fieldbus Interface 11 65
43. e nameplate The component XFE24A has already been installed at the factory For information on the option card slots refer to the MOVIAXIS Multi Axis Servo Inverter operat ing instructions 62190axx Figure 2 MOVIAXIS axis system with XFE24A fieldbus card NOTE For the installation of the EtherCAT bus you can use commercially available cables that are intended for EtherCAT bus systems The EtherCAT cables are not included in the scope of delivery of SEW EURODRIVE 12 Manual XFE24A EtherCAT Fieldbus Interface Assembly and Installation Pin assignment 42 Pinassignment Use prefabricated shielded RJ45 plug connectors compliant with IEC 11801 edition 2 0 category 5 S is ji 1 m uU A B 54174axx Figure 3 Pin assignment of an RJ45 plug connector A Front view B View from back 1 Pin 1 TX Transmit Plus 2 Pin 2 TX Transmit Minus 3 Pin 3 RX Receive Plus 6 Pin 6 RX Receive Minus XFE24A Ether The XFE24A option is equipped with a linear bus structure with two RJ45 connectors CAT connection The EtherCAT master is connected via EtherCAT slaves if necessary with a shielded twisted pair cable to X30IN RJ45 Other EtherCAT units are then connected vie X310UT RJ45 According to IEC 802 3 the maximum cable length for 100 MBaud Ethernet is 100 m 100BaseT e g between 2 XFE24A interfaces Manual XFE24A EtherCAT Fieldbus Interface 13 14 4 3
44. eckbox in the selection window Click on the Prop erties button The Properties TCP connection window will open Tick the Use this IP address checkbox and enter the following following figure Use the following IP address IP address 10 3 64 60 Subnet mask 255 255 252 0 Standard gateway C 10 3 64 170 61942AXX 2 Variant Defining a static route In this variant an entry is added to the routing table of the engineering PC which will forward the engineering data via the EtherCAT master to the mailbox gateway The command for creating a static route in the DOS box is route p add Target MASK Netmask Gateway Target Corresponds to the IP address of the EtherCAT mailbox gateway Netmask Is usually set to 255 255 255 255 host routing Gateway Corresponds to the IP address of the EtherCAT master in the TCP IP net work Microsoft Windows 2000 Version 5 08 2195 lt C gt Copyright 1985 2666 Microsoft Corp K gt route p add 169 254 61 254 MASK 255 255 255 255 18 3 64 178 CRY 61941AXX Manual XFE24A EtherCAT Fieldbus Interface 55 8 56 go Operating MOVITOOLS MotionStudio via EtherCAT Configuration of the SEW communication server 8 7 Configuration of the SEW communication server For using MOVITOOLS MotionStudio via EtherCAT you have to configure the SEW communication server first 8 7 1 Establishing communication 8 7 2 Procedure MOVITO
45. er transmits the setpoints cyclically the acceleration and deceleration ramps are also calculated in this controller No ramp function integrated into the drive is used here Clock For each control cycle the controller reads in the position actual value and calculates synchronism the current speed dx dt and probably other information such as acceleration jerk etc from the position difference dx and the time difference dt of the previous control in terval The time slices of the controller the bus transmission and the internal processing cycle of the servo inverter and of external encoders if applicable must be synchronized to one another Example This example is to demonstrate how aliasing effects can occur if controller bus servo inverter or encoder are not clock synchronous following figure Control time slice of the controller 5 ms Busclock pulse 5 ms synchronous to the controller Processing time in the servo inverter 5 ms not synchronous a i i i 1 B M cf I irs cad ABER UR RUN c MGE MN EE E D dx dx dx dx dx dt 61480AXX Figure 14 Creation of aliasing effects A Control interval dts C Time slice of servo inverter or encoder dtg B Bus cycle dx Position difference covered distance Since in this example the servo inverter or encoder and the controller are not synchro nized the time slices will slowly drift apart because their quartz oscilla
46. g 3 Emergency Max Frames 100 v IP Enable Router Diagnosis Max MAC Ids 100 Changes requie system reboot EtherCAT Mailbox Gateway V Enable Connections Figure 26 Setting the IP address for the EtherCAT mailbox gateway Network settings on the engineering PC 163 254 36 254 fre Virtual MAC nz oi 05 10 00 00 11649AXX If MOVITOOLS MotionStudio runs on the EtherCAT master no network settings need to be made If the EtherCAT master is connected to an Ethernet network PCs in the same subnet can use MOVITOOLS MotionStudio for accessing SEW drives on the EtherCAT 5sec 8 2 For this purpose the telegrams from the engineering PC are forwarded via the Ethernet interface of the EtherCAT master to the mailbox gateway so called routing Manual XFE24A EtherCAT Fieldbus Interface Operating MOVITOOLS MotionStudio via EtherCAT go Network settings on the engineering PC There are two basic routing variants 1 Variant Access to the mailbox gateway by determining the standard gateway on the engineering PC In this variant the IP address of the EtherCAT master is specified as standard gateway Select Start Settings Network and dial up connections The Network and dial up connections window opens Right click on a LAN connection and select Proper ties from the context menu The LAN connection properties window opens Tick the Internet protocol TCP IP ch
47. is de pends on the settings of the user travel units which were made during startup If no oth er user travel units were defined they are as follows Travel distance 1 0000 Revolutions Velocity 1 1 min 7 2 Settings in the EtherCAT master For time slice synchronization you must activate the function Distributed Clock The bus cycle of the MOVIAXIS must correspond exactly to that of the external controller which was set during startup Please also check the watchdog for timeout monitoring only for sync manager 0x1000 output data The watchdog for timeout monitoring is set to a de fault value 7 2 1 Settings for Velocity mode The speed setpoint is transferred via the input word configured in the PDO Editor The position is transferred via the output word configured in the PDO Editor The resolution is set during startup Manual XFE24A EtherCAT Fieldbus Interface 47 7 48 ago Motion Control via EtherCAT Example TwinCAT 7 2 2 Settings for Position mode The position setpoint is transferred via the input word configured in the PDO Editor The position is transferred via the output word configured in the PDO Editor The resolution is set during startup 7 3 Example TwinCAT Configuring clock Make the settings shown in the following figures synchronous SYSTEM Configuration oper ation NC Configuration General EtherCAT DC Process Data Startup CoE Online Online PLC
48. k 1 SVB ncoder Counting Direction NC Task 1 Prozessabbild Sling Factor ANC E Tables Position Bias M CS Achsen Modulo Factor e g 360 0 F 360 0 M hil Axis 1 Tolerance Window for Modulo Start F 00 d Fi n ENABLE Min Soft Position Limit B FALSE Axis 1 Enc Software Position Limit Min F 00 i al Axis 1_Drive ENABLE Max Soft Position Limit B FALSE Yes Axis 1_Ctrl Software Position Limit Max F 00 gt Eing nge Filter Time for Actual Position P T1 F 00 a Filter Time for Actual Velocity P T1 F 0 01 l Ausg nge Filter Time for Actual Acceleration P T1 F 01 FR PLC Configuration Encoder Mask Maximal Value t D OxFFFFFFFF H A 1 0 Configuration ENABLE Actual Position Correction B FALSE Filter Time Actual Position Correction P T1 F 00 s 11716AEN The scaling factor results from the following formula 360 PositionNumerator 2 Inc PositionDenominator 7 3 1 Velocity mode In Velocity mode Drive connected to KLXXX is selected under Axis x Drive Enter the following values in the Analog tab page following figure y getting started MX Velocity tsm TwinCAT System Manager File Edit Actions View Options Help jD m EX Ba PA Bay FOO 6 ABQ e SYSTEM Configuration Il Nc Configuration S NC Task 1 SAF Ba NC Task 1 SVB sh NC Task 1 Prozessabbild E Tables M Achsen l m 3 0 6000 0 18310546875 i Diagram Interpolation type Valve Diagr
49. l XFE24A EtherCAT Fieldbus Interface 17 5 go EtherCAT Configuration and Startup Validity of the XML files for XFE24A 5 EtherCAT Configuration and Startup This section provides you with information on configuration of the EtherCAT master and startup of the servo inverter for fieldbus operation The current version of the XML file for the XFE24A option card is available on the SEW homepage http www sew eurodrive de under the heading Software 5 1 Validity of the XML files for XFE24A The XML file is necessary for using XFE24A as a fieldbus option in MOVIAXIS Entries in the XML file must not be changed or expanded SEW assumes no liability for servo inverter malfunctions caused by a modified XML file 5 2 Configuring the EtherCAT master for MOVIAXIS using the XML file 5 2 1 XML file for operation with MOVIAXIS An XML file SEW XFE24A XML is provided for configuring the EtherCAT master This file must be copied into a special folder of your project planning software Refer to the manuals for the appropriate project planning software for details on the procedure The XML files standardized by the EtherCAT Technology Group ETG can be read by all EtherCAT masters 5 2 2 Configuration procedure Proceed as follows for configuring MOVIAXIS with EtherCAT fieldbus interface 1 Install copy the XML file according to the requirements of your project planning soft ware Once the file has been installed c
50. l fieldbus interface MOVIAXIS and EtherCAT The unit behavior of the servo inverter which forms the basis of EtherCAT operation is referred to as the unit profile It is independent of any particular fieldbus and is therefore a uniform feature This feature allows the user to develop fieldbus independent drive ap plications This makes it much easier to change to other bus systems such as Profibus option XFP11A Manual XFE24A EtherCAT Fieldbus Interface Introduction Features 3 3 2 Access to all information MOVIAXIS offers digital access to all drive parameters and functions via the EtherCAT interface The servo drive is controlled via fast cyclic process data Via this process data channel you can enter setpoints such as the setpoint speed ramp generator time for acceleration deceleration etc as well as trigger various drive functions such as enable control inhibit normal stop rapid stop etc At the same time you can also use this chan nel to read back actual values from the servo inverter such as actual speed current unit status error number or reference signals 3 3 3 Cyclical data exchange via EtherCAT Process data is usually exchanged cyclically between EtherCAT master and the MOVIAXIS multi axis servo inverter The cycle time is determined when configuring the EtherCAT master 3 3 4 Acyclical data exchange via EtherCAT Acyclical READ WRITE services are introduced in line with the EtherCAT s
51. l via EtherCAT This chapter contains information about the EtherCAT functions that enable clock syn chronous operation of MOVIAXIS connected to an EtherCAT master which is neces sary for motion control applications 7 1 EtherCAT introduction This section describes the functions and terms used for clock synchronous operation of SEW servo inverters on EtherCAT Comprehensive detailed technical information about EtherCAT is available from the EtherCAT user organization e g at www EtherCAT org and from the manufacturers of EtherCAT master systems Based on the cascade control common in drive technology the principal mechanisms for motion control applications are described here 2 A il Xref t Xact r Vact en m y Sra G 8 61477AXX Xref Position setpoint 1 Position controller Xact Position actual value 2 Speed controller Vref Speed setpoint 3 Output stage of the servo inverter Vact Actual speed value 4 Driven machine load tret Torque setpoint 5 Encoder V speed X position 6 Optional encoder A position setpoint X is the starting point Using the position actual value Xact the position controller 1 calculates a speed setpoint V The speed controller 2 uses speed setpoint and actual value to calculate the torque setpoint tef which generates a torque in the motor supplied by the servo inverter output st
52. meter setting Response setpoint deviation positioning Output stage inhibit waiting z Basic settings J FCB 05 Speed control 00 01 Setpoints E FCB 06 Interpolated speed co Setpoint position source Process data buffer channel 0 E FCB 07 Torque control 00 01 7 E FCB 08 Interpolated torque cc Setpoint local position rev 0 0000 EJ FCB 09 Positioning 00 63 Limit values ES FCB 10 Interpolated positionin z EE f FCB 12 Reference travel etpoint deviation interpolated positioning rev 1 0000 FCB 18 Encoder adjustment Actual values E FCB 20 Jog mode Le ku FCB 21 Brake test Rasian Irev 0 0000 FCB 22 Dual drive Position Modulo rev 16384 0000 E FCB 25 Rotorlage Identifikatio foo E FCB 26 Stop atuser limits EIIE teni 0 0000 _FCB 10 Interpolated positioning 11669AXX Figure 25 Configuration of the FCB10 Set the cycle time of your EtherCAT controller in the controller setpoint cycle parameter e g 1 ms The position setpoints of the controller are smoothed with these configurable mean val ue filters for a steady continuous speed curve In addition to that the source for the position setpoint must be set here process data buffer channel 0 OUT process data The configuration of the OUT process data is identical to the configuration of the Velocity mode more information is available there The unit and resolution of the speed or velocity and position or travel of the ax
53. n rd 1 Figure 20 OUT process data 9 OUT process data interface o peo eet o poo 1 oo a po o vos 11666AXX The unit and resolution of the speed or velocity and position or travel of the axis de pends on the settings of the user travel units which were made during startup If no oth er user travel units were defined they are as follows Travel distance Velocity 1 0000 Revolutions 1 1 min The settings of status word 0 control word 1 and process output data correspond to the factory setting Then establish links from status word 0 and OUT process data to the Out buffer 0 using drag amp drop Manual XFE24A EtherCAT Fieldbus Interface 43 7 44 ago Motion Control via EtherCAT EtherCAT introduction 7 1 3 Position setpoint interface Position mode 2 3 4 Vref t EC A gt a er B Figure 21 Position mode Cascade with bus interface 61479AXX A Control B Fieldbus interface C Servo inverter Xref Position setpoint 1 Position controller Xact Position actual value 2 Speed controller Vref Speed setpoint 3 Output stage of the servo inverter Vact Actual speed value 4 Driven machine tref Torque setpoint 5 Encoder V speed X position 6 Optional encoder In Position mode the controller tran
54. n with an EtherCAT bus system a free IN buffer e g IN buffer 0 must be configured Number of data words 16 for firmware status 21 1 16 for firmware status 22 and higher EtherCAT with MOVIAXIS always transfers 16 data words Number of data words determines how many data words are used of the 16 that are transferred Time out interval Here you can set the monitoring time for the IN buffer If the process data commu nication exceeds the set time error message 67 Error PDO timeout is issued Setting range 0 100 100000 ms 0 ms corresponds to deactivated standard is 100 ms Update On Updating the process data Manual XFE24A EtherCAT Fieldbus Interface 5 23 5 24 go EtherCAT Configuration and Startup Settings on the MOVIAXIS servo inverter using the example of single axis For safety reasons you must also enable the MOVIAXIS servo inverter at the terminals for control via the EtherCAT bus system To do so connect input DIOO Function Output stage enable to DC 24 V The procedure for complete startup of the MOVIAXIS servo inverter with EtherCAT link is described in the MOVIAXIS Multi Axis Servo Inverter operating instructions Manual XFE24A EtherCAT Fieldbus Interface Operating Behavior on EtherCAT go 6 Control of the MOVIAXISG multi axis servo inverter 6 Operating Behavior on EtherCAT This section describes the basic behavior of the servo inve
55. ne 59 8 10 Known problems when operating MOVITOOLS MotionStudio 59 9 Error Diagnostics innere treten derit rare RRRA eres 60 9 1 Diagnostic procedures urens donnin ieia naei nne a nennen ntn nnns 60 9 2 List Of errOI S esee erede dee e netus ee netten mee ee e eed e bu v e uude 62 10 Technical Data 11 eicere cce deere cette seers snnuecerresebuecersevesecerevessecceress 63 10 1 XFE24A option for MOVIAXISO 5c scsabtetitetcm eie sce uu bae ets nie 63 WU NINO SEE 64 Manual XFE24A EtherCAT Fieldbus Interface General Information Structure of the safety notes 1 General Information 1 1 Structure of the safety notes The safety notes in these operating instructions are structured as follows S lt 3 c e EJ SIGNAL woRD Nature and source of hazard Possible consequence s if disregarded e Measure s to avoid the hazard Symbol Signal Word Meaning Consequences if disregarded Example AZARD Imminent hazard Severe or fatal injuries A Possible hazardous situation Severe or fatal injuries General hazard AN A CAUTION Possible hazardous situation Minor injuries Specific hazard e g electric shock STOP Possible damage to property Damage to the drive system or its environ D i NOTE Useful information or tip lil Simplifies drive system handling Manual XFE24A EtherCAT Fieldbus Interface 1 2 1 3 1 4 1 5
56. nization source None Error response External synchronization Period interval sync signal ms p 000 Period length of base period ms 0 250 Basic settings Figure 11 Response fieldbus timeout Value range 0 No response 1 Display only 2 7 Output stage inhibit locked 3 Stop at emergency stop limit locked 5 Output stage inhibit waiting 6 7 Stop at emergency stop limit waiting 8 Stop at application limit waiting 9 Stop at application limit locked 10 Stop at system limit waiting 11 Stop at system limit locked 11660AXX The fieldbus timeout response sets the error response for the case that the IN buffer does not receive an expected process data The process data was already received and is then absent before the error message comes up After a reset the axis is in C3 status and waits for process data no error but a status Manual XFE24A EtherCAT Fieldbus Interface 29 6 go Operating Behavior on EtherCAT Parameter setting via EtherCAT 6 2 Parameter setting via EtherCAT The SDO services READ and WRITE which are common in CoE CANopen over EtherCAT provide access to the drive parameter in EtherCAT MOVITOOLS MotionStudio can access all unit functions via VoE services Vendor specific over EtherCAT 6 2 1 SDO services READ and WRITE Depending on the EtherCAT master or the configuration environment the user interface i
57. nterface Assembly and Installation Bus termination 44 Bus termination A bus terminator e g using bus terminating resistors is not necessary If no follow up unit is connected to an EtherCAT unit this is automatically detected 45 Setting the station address The address of EtherCAT units from SEW EURODRIVE cannot be set at the unit These units are recognized via their position in the bus structure and are then assigned an ad dress by the EtherCAT master This can be displayed in MOVITOOLS MotionStudio or via Index 8454 0 Manual XFE24A EtherCAT Fieldbus Interface 15 Assembly and Installation Operating displays and settings 4 6 Operating displays and settings 1 Switch F1 f nie 1 e Switch position 0 Delivery condition e Switch position 1 Reserved for added functions e 2 LED RUN color Green orange Qu 4 3 LED ERR color Red wg 5 4 LED link IN color Green ElherCAT 5 LED link OUT color Green 8 sif RI Switch F1 must be set to position O RUN LED green orange The LED RUN green orange indicates the status of the XFE24A option Status State Description Off INIT The XFE24A option is in the INIT state Flashing green PRE OPERATIONAL The XFE24A option is in the PRE OPERATIONAL state Flashing once green SAFE OPERATIONAL The XFE24A option is in the SAFE OPERATIONAL state Green OPERATIONAL The XFE24A option is in the
58. ntren ntn ndn innens 9 3 2 Additional documentation ssssssseeene eem eem 9 3 9 EeatreS c eeu ti retis Ide e a epe itte epe Tee adn eo sateen 9 534 c MOVIAXIS and Ether CAT cad t prb sn d do I d t 9 3 3 2 Access to all information sssesse 10 3 3 3 Cyclical data exchange via EtherCAT sseeee 10 3 3 4 Acyclical data exchange via EtherCAT sse 10 3 3 5 Configuration of the EtherCAT option card 10 3 3 6 Monitoring functions sssen en 11 3 2 7 Diagnostic nisni ien dad dade eei dede Pg 11 9 3 0 PDO EGItOr iere nd o re doe diee ce 11 4 Assembly and Installation eeeeeeeeeeeeeenen nnne nnne nnne nnns 12 4 1 Prerequisites nnani settee seed teet edo ede dede dL deduc He dc e de eters 12 4 2 PiniassigntTient ue iuto erect Pei Pri e Le pbi Eee tnd ois epp lug enia Pede Eheu te tg 13 4 3 Routing and shielding the bus cable ssssssm 14 AA Bus termination eoe a Dee ede 15 4 5 Setting the station address sssssssseee meme 15 4 6 Operating displays and settings 16 5 EtherCAT Configuration and Startup eene 18 5 1 Validity of the XML files for XFE24A sssssssenm eme 18 5 2 Configuring the EtherCAT master for MOVIAXIS using the XML file 18 5 2 1 XML file for operation with MOVIAXISS sssssees 18 5 2 2 Configuration procedu
59. onse fieldbus timeout The Fieldbus Timeout response is used to configure the error response which is trig gered by the fieldbus timeout monitoring The parameters set her should match the configuration of the master system ago 6 9 The standard setting of the Fieldbus Timeout response is Emergency stop waiting H E Drive data 1 3 Communication ES Basic settings E Control words 0 3 Error message words IN process data E7 IN buffer 0 15 7 Status words 0 3 OUT process data OUT buffer 0 7 1 0 basic unit 7 1 0 PDO 1 2 IN PDO mapper H Encoder FCB parameter setting H Unit functions mmmunication Basic settings Basic settings Stop process data No Response PDO timeout Stop at application limit waiting X Response external error Emergency stop waiting hn Error response CANopen CAN2 Standard communication CANT system bus CAN2 MoviLink MoviLink M Protocol selection Baud rate f500kbaud 500kb rj Address F fo Scope4D 120 Sync4D 128 pe Setpoint cycle CAN ms oo foo Sync mode Consumer rl Consumer ed Sync period Ims 5 000 5 000 Sync offset Ims 5 000 5 000 Sync start mode ot or zl Sync jitter compensation Fe x Communication option Baud rate 0 Address 0 Timeout ms 500 000 Response fieldbus timeout Emergency stop waiting Synchronization Synchro
60. orrectly the unit appears next to the slave stations under SEW EURODRIVE Drives with the designation MOVIAXIS XFE24A 2 Use the menu item Insert to add the unit to the EtherCAT structure The address is assigned automatically For easier identification you can give a name to the unit 3 Select the process data configuration required for your application see section PDO configuration for operation in the MOVIAXIS 4 Link the I O or periphery data with the input and output data of the application pro gram After configuration you can start the EtherCAT communication The RUN and ERR LEDs indicate the communication status of the XFE24A option see section 4 6 Oper ating displays and settings and section 9 Error Diagnostics 18 Manual XFE24A EtherCAT Fieldbus Interface EtherCAT Configuration and Startup ago Configuring the EtherCAT master for MOVIAXIS using the XML file 5 2 3 PDO configuration for operation in the MOVIAXIS Rx process data objects Tx process data objects In the CoE CANopen over EtherCAT version EtherCAT uses the process data objects PDO defined in the CANopen standard for cyclical communication between master and slave In line with CANopen a difference is made between Rx receive and Tx transmit process data objects Rx process data objects Rx PDO are received by the EtherCAT slave They transfer process output data control values setpoints digital output
61. pecifica tion They are transmitted during normal cyclical operation along with the messages without affecting the performance of the process data communication via EtherCAT READ WRITE access to the drive parameters is enabled using SDO services Service Data Objects which are implemented via CoE CANopen over EtherCAT or VoE ser vices Vendor specific over EtherCAT This parameter data exchange enables you to implement applications in which all the important drive parameters are stored in the master programmable controller so that there is no need to make parameter settings manually on the servo drive itself 3 3 5 Configuration of the EtherCAT option card The EtherCAT option card is designed so that all specific fieldbus settings are made when the EtherCAT system starts up This means the servo inverter can be integrated into the EtherCAT environment and switched on within a very short period of time EtherCAT Master EtherCAT 61211AXX Figure 1 EtherCAT with MOVIAXIS Manual XFE24A EtherCAT Fieldbus Interface Introduction Features 3 3 6 Monitoring functions 3 3 7 Diagnostics 3 3 8 PDO Editor Using a fieldbus system requires additional monitoring functions for the drive technolo gy for example time monitoring of the fieldbus fieldbus timeout or rapid stop concepts You can for example adapt the monitoring functions of MOVIAXIS specifically to your application You can determine for instanc
62. re ioir enia E A eee 18 5 2 3 PDO configuration for operation in the MOVIAXISPS cosi noit 19 5 3 Settings on the MOVIAXIS servo inverter using the example of single axis positioning 13 etie d Oe Ee needed ees 22 Manual XFE24A EtherCAT Fieldbus Interface Contents 6 Operating Behavior on EtherCAT eeeeeeenennnenen nn enne 25 6 1 Control of the MOVIAXIS multi axis servo inverter sssssss 25 6 1 1 Control example in TwinCAT with MOVIAXIS oc oo caasa 26 6 1 2 EtherCAT timeout monitoring MOVIAXIS t 28 6 1 3 Response fieldbus timeout ssssssssssssseeee 29 6 2 Parameter setting via EtherCAT ssssssssseeeee enne 30 6 2 1 SDO services READ and WRITE ssesen en 30 6 2 2 Reading a parameter via TwinCAT example ssss 31 6 2 3 Writing a parameter via TwinCAT example ssessss 32 6 3 Configuration return codes ssssessseee eene nnns 34 MM MEI 34 06 3 2 Error class eee lta idein cd Duda e e deu a E iud 34 06 3 3 CEITO COQG ii Het E e PR tiere epe teu 34 6 3 4 Additional code 2 1 iind die eL indie cin dates ene dead 34 6 3 5 List of implemented error codes for SDO services 35 7 Motion Control via EtherCAT eeeeeeeeeeeennnenen nennen nennen nnns 36 Tet EtherCAT int
63. roduction ce PR ERREUR REDE SOR Pres 36 7 1 1 Speed setpoint interface Velocity mode sseeeessss 39 7 1 2 Settings for Velocity mode speed interface esssssse 40 7 1 3 Position setpoint interface Position mode sssesssss 44 7 1 4 Settings for Position mode sss emm 45 7 2 Settings in the EtherCAT master eee 47 7 2 1 Settings for Velocity mode nsere riire ipepe Eai aAA me 47 7 2 2 Settings for Position mode sess 48 38 Example TWInCAT stirii a tetro n t ar reri des 48 7 3 1 Velocity mode cinis reda cerne D dede did n dede 50 8 Operating MOVITOOLS MotionStudio via EtherCAT eene 52 9 1 Introducti n ione rti dre pee tir od cie aede 52 8 2 Required hardware ssssssssssssssssseseeenre nennen enne erremrennnns 53 8 3 Required software nox etaient teas 53 9 4 Installation cie RODRIGO DID a Bt bts 53 8 5 Configuration of the mailbox gateway sese 54 8 6 Network settings on the engineering PC esssee 54 8 7 Configuration of the SEW communication server ssssseeee 56 8 7 1 Establishing communication seee ene 56 9 4 2 POCE O e iit E POL RT NER 56 8 8 Automatic search for connected units unit scan eeessseesss 58 8 9 Activating online operation ssssssseenennnm ee
64. rter on the EtherCAT system when controlled via permanently configured PDOs for fieldbus communication 6 1 Control of the MOVIAXIS multi axis servo inverter The MOVIAXIS multi axis servo drive is controlled via the permanently configured PDOs which are up to 16 I O words in length When using an EtherCAT master the pro cess data words are directly mapped in the process image and can so be addressed di rectly by the control program EtherCAT Master JL ss 61375AXX Ethernet Frame EtherCAT 7 A pF EtherCAT Figure 9 EtherCAT with SEW drives For more information about controlling via the process data channel in particular re garding the configuration of the control and status words refer to the MOVIAXIS Multi Axis Servo Inverter project planning manual For proper operation of synchronized applications timing requirements must be met by the master depending on the synchronization mechanism Synchronization via Distributed Clock DC The process data telegram must arrive shortly before the DC Beckhoff recommends a maximum time of 10 in relation to the DC cycle before the DC Synchronization via synchronized process data The MOVIAXIS servo system can handle a maximum jitter of the EtherCAT process data telegram setpoints of the master etc of 40 us If this jitter limit is exceeded a synchronous processing is no longer guaranteed Please check the synchroniza tion quality of your EtherCAT
65. s faulty C Continue with 3 Response of the ERR LED 60 Manual XFE24A EtherCAT Fieldbus Interface Error Diagnostics Ss ea 9 Diagnostic procedures lt x Step 3 How does the ERR LED respond OFF Flickering Flashes red twice Lights up red once Example 1 RUN LED lights up green slave is in OPERATIONAL state l The EtherCAT communication of the XFE24A option is in operating state Example 2 RUN LED flashes green slave is in PRE OPERATIONAL state e RUNLED lights up green once slave is in SAFE OPERATIONAL state L Start the bus in the master and switch the slave to the OPERATIONAL state i Start process data communication Prerequisite RUN LED flashes green slave is in PRE OPERATIONAL state RUN LED lights up green once slave is in SAFE OPERATIONAL state A boot error was detected Boot the XFE24A option Fieldbus timeout activate process output data Example 2 RUN LED flashes green slave is in PRE OPERATIONAL state e RUN LED lights up green once slave is in SAFE OPERATIONAL state Start process data communication Prerequisite RUN LED flashes green slave is in PRE OPERATIONAL state RUN LED lights up green once slave is in SAFE OPERATIONAL state Start the process data communication Manual XFE24A EtherCAT Fieldbus Interface 61 62 ES a Error Diagnostics x List of errors Flashing Prerequisite RUN LED flashes green slave i
66. s in PRE OPERATIONAL state RUNLED lights up green once slave is in SAFE OPERATIONAL state An invalid configuration has occurred Correct the configuration error and then start the bus in the master Switch the slave to OPERATIONAL state Start the process data communication 9 2 Listoferrors For operating the XFE24A option in MOVIAXISS you will find the corresponding er ror codes in the MOVIAXIS operating instructions Manual XFE24A EtherCAT Fieldbus Interface Technical Data XFE24A option for MOVIAXIS 10 Technical Data 10 1 XFE24A option for MOVIAXIS XFE24A option MOVIAXIS Part number 1821 2492 Power consumption P 3W Standards IEC 61158 IEC 61784 2 Baud rate 100 Mbaud full duplex Connection technology 2 x RJ45 8x8 modular jack Bus termination Not integrated because bus termination is automatically activated OSI Layer EtherNet II Station address Setting via EtherCAT master Name of the XML file SEW XFE24A XML Vendor ID 0x59 CANopenVendor ID Sere re ee Sipe MOVIN vxo over EtherCAT A Firmware status 23 or higher Tools for startup e PC program MOVITOOLS MotionStudio from version 5 40 Manual XFE24A EtherCAT Fieldbus Interface 11 64 Index 11 Index A Monitoring functions sseeeene 11 Additional code zac ecd sues Gedudaia C a sien 34 Motion control via EtherCAT ou ee 36 Example TWinCAT
67. s represented differently In each case however the following data is required for exe cuting the SDO command SDO READ Description Slave address 16 bit EtherCAT address of the servo inverter from which the data is to be read Index 16 bit Subindex 8 bit Address in the object dictionary from which the data is to be read Data Data length Structure for storing the received data and its length SDO WRITE Description Slave address 16 bit EtherCAT address of the servo inverter to which the data is to be written Index 16 bit Subindex 8 bit Data Data length Address in the object dictionary to which the data is to be written Structure in which the data to be written is stored For the SDO services READ and WRITE other flags and parameters might be neces sary For activating the function For In progress message or error message Fortimeout monitoring Forreporting errors during the execution 30 Manual XFE24A EtherCAT Fieldbus Interface Operating Behavior on EtherCAT go 6 Parameter setting via EtherCAT 6 2 2 Reading a parameter via TWinCAT example The function SDO READ is available for reading a parameter The index of the param eter to be read is necessary For implementation in TwinCAT the function module FB EcCoESdoRead is required This function module is available in the TcEtherCAT lib library You can integrate this function
68. signals from the EtherCAT master to the EtherCAT slave Tx process data objects Tx PDO are sent back to the EtherCAT master by the Ether CAT slave They transfer process input data actual values statuses digital input infor mation etc For communication with MOVIAXIS via XFE24A there is a PDO type available for cy clical process input and output data OutputData1 Standard 16 PO Static PDO with 16 cyclical process output data words which are permanently linked with the standard process data of the MOVIAXIS gt MOVIAXIS Multi Axis Servo Inverter project planning manual InputData1 Standard 16 PI Static PDO with 16 cyclical process input data words which are permanently linked with the standard process data of the MOVIAXIS gt MOVIAXIS Multi Axis Servo Inverter project planning manual List of possible process data objects PDO for XFE24A MOVIAXIS Index Size Name Mapping Sync Manager Sync Unit 1600hex 32 Byte OutputData1 Standard 16 PO Fixed con 2 0 5632dez tent 1A00hex 32 Byte InputData1 Standard 16 Pl Fixed con 3 0 5632dez tent Ethernet Frame EtherCAT Header Header Header EtherCAT Master 1 acyci Mailbox cycl OutputData1 ICommunication Standard 16 PO cycl InputData1 acycl Mailbox Standard 16 Pl Communication EtherCAT 61990AXX Figure 4 Using process data objects OutputData1 and InputData1 Manu
69. smits a position setpoint cyclically to the servo in verter The position actual value is read back by the servo inverter or a separate encod er In Position mode the servo inverter follows the constantly changing position setpoint and generates the required speed setpoint for the speed controller 2 from the position actual value from 5 or 6 The time slices of the controller the bus transmission and the internal processing cycles of the servo inverter and of external encoders if applica ble must be synchronized to one another After the position in the controller has been referenced to the position in the servo invert er the monitoring of permitted travel ranges or limit switches can be performed in the servo inverter Whether the settings of a load dependent ramp specification and lag er ror monitoring in the servo inverter make sense must then be checked in detail To prevent unwanted high acceleration values for larger control intervals gt 1 ms the speed setpoint is not directly adopted by MOVIAXIS but interpolated linearly This means for a setpoint cycle of 5 ms that the controller sets the required position change in the MOVIAXIS not every 5ms as one large step but rather as 5 small steps of 0 5ms Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT go 7 EtherCAT introduction 7 1 4 Settings for Position mode IN process data Configuration of process data flow
70. sposal must be carried out by persons who are appropriately trained Manual XFE24A EtherCAT Fieldbus Interface 2 3 2 4 2 5 2 6 Safety Notes Transport putting into storage Transport putting into storage You must observe the notes in the manual on transportation storage and proper han dling Installation assembly Adhere to the instructions in section 4 Mechanical Installation Electrical Connection Observe the applicable national accident prevention guidelines when working on live multi axis servo inverters for example BGV A3 Perform electrical installation according to the pertinent regulations e g cable cross sections fusing protective conductor connection Additional information is contained in the documentation You will find notes on EMC compliant installation such as shielding grounding ar rangement of filters and routing of lines in the documentation of the multi axis servo in verters Always observe these notes even with multi axis servo inverters bearing the CE marking The manufacturer of the system or machine is responsible for maintaining the limits established by EMC legislation Preventive measures and protection devices must correspond to the regulations in force e g EN 60204 or EN 61800 5 1 Required preventive measures The unit must be grounded All electrical connection cables may only be plugged or unplugged in a de energized state Startup operation
71. status 21 5 the setting 1 000 is recommended xxi Sy MOVIAXISe Basic settings i 9 Display values Stop process data No zl H Drive data Communication ES Basic settings Response PDO timeout Stop at application limit wating 1 amp 7 Control words 0 3 i E Eror message words Response external error Emergency stop waiting E IN process data Error response CANopen CAN2 7 IN buffer 0 15 E Status words 0 3 Standard communication OUT process data CANT system bus CAN2 T7 OUT buffer 0 7 Protocol selection MovviLink MoviLink zi 5 1 0 basic unit 7 1 0 PDO 1 2 Baud rate 500 kbaud 500 kbaud E 5 IN PDO mapper H E Encoder RES i 0 E FCB parameter setting ScopeD 120 H Unit functions Sync1D is fas Setpoint cycle CAN Ims 1 000 1 000 Sync mode Consumer w Consumer Sync period Ims 5 000 5 000 Sync offset ms 5 000 5 000 Sync start mode or or zl Sync jitter compensation No v INo E Communication option Baud rate 0 Address Timeout ms 500 000 Response fieldbus timeout Emergency stop waiting Synchronization Synchronization source None E Error response External synchronization Period interval syne signal ms 0 000 Period length of base period ms 0 250 Basic settings 11659AXX Figure 10 Timeout communication option 28 Manual XFE24A EtherCAT Fieldbus Interface Operating Behavior on EtherCAT Control of the MOVIAXISG multi axis servo inverter 6 1 3 Resp
72. t Timeout interval of the function module The output flags bBusy and bError indicate the state of the service nErrld the error num ber when flag bError is set if applicable You can display the index and the subindex of the parameter to be read in the parameter tree by moving the cursor over the respective parameter The information is then dis played as a tool tip Manual XFE24A EtherCAT Fieldbus Interface Operating Behavior on EtherCAT go 6 Parameter setting via EtherCAT The function module is integrated in TwinCAT as follows p TwinCAT PLC Control WritePDO pro MAIN PRG ST Bi Fie Edit Project Insert Extras Online Window Help aala xe eep es eli x Ec d EIE MAIN PRG 0002 0004 0008 0006 0007 0008 0009 0010 0011 0012 0013 0014 0015 0016 0017 0018 0019 0020 DOT PROGRAM MAIN 0001 IF WriteSdo bBusy FALSE THEN WriteSdo bexecute TRUE ELSE ritesdo sNetld 192 168 187 1 2 1 nSlaveAddr 1001 nindex 9598 nSublndex 2 pSrcBuf ADR Write Data cbBufLen 4 bExecute FALSE tTimeout T 500ms i BEND IF Figure 13 Integration of the function module in TwinCAT Write Data DWORD 100 set setpoint local velocity to 100 1 min WriteSdo FB EcCoESdoWrite rising edge for the execute input AMS NetID ofthe EtherCAT master EtherCAT Address of the SEW devic
73. tors are not ideal This can lead to jumps in the transmitted position value Manual XFE24A EtherCAT Fieldbus Interface 37 7 38 ago o Motion Control via EtherCAT EtherCAT introduction While in control intervals 1 to 3 only a slightly inaccurate speed v dx dtg dx dtc is determined in the fourth control interval a significant error v 2dx dtS occurs when calculating the velocity This incorrect speed calculated in one sample interval results in violent responses of the control algorithms in the controller and can even trigger error messages The problem described above caused by discreet sampling in different systems will usu ally only be a problem in motion control applications when the cycle time of the controller is short or similar to the internal processing cycles of the servo inverter and external en coders As a rule EtherCAT is designed for bus and control cycles to be synchronous The Distributed Clock mechanism also enables synchronization of the internal process ing time slice of the servo inverter In MOVIAXIS the synchronization of time slices and the data transfer is controlled via the dual port RAM of the XFE24A option Manual XFE24A EtherCAT Fieldbus Interface Motion Control via EtherCAT go EtherCAT introduction 7 1 4 Speed setpoint interface Velocity mode 1 2 3 4 Xref gt Xact gt

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